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  <div class="headertitle"><div class="title">BMI088driver.h</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#ifndef BMI088DRIVER_H</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#define BMI088DRIVER_H</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;stdint.h&quot;</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;<a class="code" href="main_8h.html">main.h</a>&quot;</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#define BMI088_TEMP_FACTOR 0.125f</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#define BMI088_TEMP_OFFSET 23.0f</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#define BMI088_WRITE_ACCEL_REG_NUM 6</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#define BMI088_WRITE_GYRO_REG_NUM 6</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#define BMI088_GYRO_DATA_READY_BIT 0</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#define BMI088_ACCEL_DATA_READY_BIT 1</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#define BMI088_ACCEL_TEMP_DATA_READY_BIT 2</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#define BMI088_LONG_DELAY_TIME 80</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#define BMI088_COM_WAIT_SENSOR_TIME 150</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#define BMI088_ACCEL_IIC_ADDRESSE (0x18 &lt;&lt; 1)</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#define BMI088_GYRO_IIC_ADDRESSE (0x68 &lt;&lt; 1)</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#define BMI088_ACCEL_3G_SEN 0.0008974358974f</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#define BMI088_ACCEL_6G_SEN 0.00179443359375f</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#define BMI088_ACCEL_12G_SEN 0.0035888671875f</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="preprocessor">#define BMI088_ACCEL_24G_SEN 0.007177734375f</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#define BMI088_GYRO_2000_SEN 0.00106526443603169529841533860381f</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="preprocessor">#define BMI088_GYRO_1000_SEN 0.00053263221801584764920766930190693f</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#define BMI088_GYRO_500_SEN 0.00026631610900792382460383465095346f</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#define BMI088_GYRO_250_SEN 0.00013315805450396191230191732547673f</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#define BMI088_GYRO_125_SEN 0.000066579027251980956150958662738366f</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="comment">// ���ֶ��޸�</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#if INFANTRY_ID == 0</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#define GxOFFSET 0.00247530174f</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="preprocessor">#define GyOFFSET 0.000393082853f</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#define GzOFFSET 0.000393082853f</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="preprocessor">#define gNORM 9.69293118f</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="preprocessor">#elif INFANTRY_ID == 1</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="preprocessor">#define GxOFFSET 0.0007222f</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="preprocessor">#define GyOFFSET -0.001786f</span></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span><span class="preprocessor">#define GzOFFSET 0.0004346f</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="preprocessor">#define gNORM 9.876785f</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="preprocessor">#elif INFANTRY_ID == 2</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="preprocessor">#define GxOFFSET 0.0007222f</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="preprocessor">#define GyOFFSET -0.001786f</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="preprocessor">#define GzOFFSET 0.0004346f</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="preprocessor">#define gNORM 9.876785f</span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="preprocessor">#elif INFANTRY_ID == 3</span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span><span class="preprocessor">#define GxOFFSET 0.00270364084f</span></div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="preprocessor">#define GyOFFSET -0.000532632112f</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="preprocessor">#define GzOFFSET 0.00478090625f</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span><span class="preprocessor">#define gNORM 9.73574924f</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span><span class="preprocessor">#elif INFANTRY_ID == 4</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span><span class="preprocessor">#define GxOFFSET 0.0007222f</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span><span class="preprocessor">#define GyOFFSET -0.001786f</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span><span class="preprocessor">#define GzOFFSET 0.0004346f</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span><span class="preprocessor">#define gNORM 9.876785f</span></div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span><span class="comment">/* IMU数据结构体 */</span></div>
<div class="foldopen" id="foldopen00063" data-start="{" data-end="};">
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="struct_i_m_u___data__t.html">   63</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>{</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordtype">float</span> Accel[3];</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keywordtype">float</span> Gyro[3];</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="keywordtype">float</span> TempWhenCali;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keywordtype">float</span> Temperature;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordtype">float</span> AccelScale;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keywordtype">float</span> GyroOffset[3];</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="keywordtype">float</span> gNorm;</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>} <a class="code hl_struct" href="struct_i_m_u___data__t.html">IMU_Data_t</a>;</div>
</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="comment">/* BMI088错误码枚举 */</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span><span class="keyword">enum</span></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>{</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    BMI088_NO_ERROR = 0x00,</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    BMI088_ACC_PWR_CTRL_ERROR = 0x01,</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    BMI088_ACC_PWR_CONF_ERROR = 0x02,</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    BMI088_ACC_CONF_ERROR = 0x03,</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    BMI088_ACC_SELF_TEST_ERROR = 0x04,</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    BMI088_ACC_RANGE_ERROR = 0x05,</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    BMI088_INT1_IO_CTRL_ERROR = 0x06,</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    BMI088_INT_MAP_DATA_ERROR = 0x07,</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    BMI088_GYRO_RANGE_ERROR = 0x08,</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    BMI088_GYRO_BANDWIDTH_ERROR = 0x09,</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    BMI088_GYRO_LPM1_ERROR = 0x0A,</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    BMI088_GYRO_CTRL_ERROR = 0x0B,</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    BMI088_GYRO_INT3_INT4_IO_CONF_ERROR = 0x0C,</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    BMI088_GYRO_INT3_INT4_IO_MAP_ERROR = 0x0D,</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    BMI088_SELF_TEST_ACCEL_ERROR = 0x80,</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    BMI088_SELF_TEST_GYRO_ERROR = 0x40,</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    BMI088_NO_SENSOR = 0xFF,</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>};</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span><span class="keyword">extern</span> <a class="code hl_struct" href="struct_i_m_u___data__t.html">IMU_Data_t</a> BMI088;</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span></div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span><span class="keyword">extern</span> uint8_t BMI088Init(<a class="code hl_typedef" href="group___s_p_i___exported___types.html#gab633e49dd034de2f3a1fe79853d78d18">SPI_HandleTypeDef</a> *bmi088_SPI, uint8_t calibrate);</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span></div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span><span class="keyword">extern</span> uint8_t bmi088_accel_init(<span class="keywordtype">void</span>);</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span></div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span><span class="keyword">extern</span> uint8_t bmi088_gyro_init(<span class="keywordtype">void</span>);</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span></div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span><span class="keyword">extern</span> <span class="keywordtype">void</span> BMI088_Read(<a class="code hl_struct" href="struct_i_m_u___data__t.html">IMU_Data_t</a> *bmi088);</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span> </div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="agroup___s_p_i___exported___types_html_gab633e49dd034de2f3a1fe79853d78d18"><div class="ttname"><a href="group___s_p_i___exported___types.html#gab633e49dd034de2f3a1fe79853d78d18">SPI_HandleTypeDef</a></div><div class="ttdeci">struct __SPI_HandleTypeDef SPI_HandleTypeDef</div><div class="ttdoc">SPI handle Structure definition.</div></div>
<div class="ttc" id="amain_8h_html"><div class="ttname"><a href="main_8h.html">main.h</a></div><div class="ttdoc">: Header for main.c file. This file contains the common defines of the application.</div></div>
<div class="ttc" id="astruct_i_m_u___data__t_html"><div class="ttname"><a href="struct_i_m_u___data__t.html">IMU_Data_t</a></div><div class="ttdef"><b>Definition</b> BMI088driver.h:64</div></div>
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